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2016 | OriginalPaper | Chapter

An Application of Laser-Based Autonomous Navigation for Data-Center Monitoring

Authors : Stefano Rosa, Ludovico Orlando Russo, Giuseppe Airó Farulla, Luca Carlone, Roberto Antonini, Gaspardone Marco, Basilio Bona

Published in: Intelligent Autonomous Systems 13

Publisher: Springer International Publishing

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Abstract

Data-center monitoring has been a critical subject of research in recent years. Mobile robots have been successfully employed in the industrial field to efficiently perform common tasks. In this paper, we report some preliminary results on the study and development of a robotic system, in which a mobile robot equipped with a laser range sensor and an Inertial Measurement Unit (IMU) is able to autonomously navigate in a data-center room for accurate monitoring of critical measurements, such as servers’ external temperature, humidity and other physical quantities. The robot is able to autonomously create a map of a previously unknown room, localize therein and execute a list of measurements at different locations, which are provided by the user via a web graphical user interface (GUI). The robot is able to find the best trajectory to reach the given locations, while avoiding static and moving obstacles. The particular characteristics of the data-center scenario introduce specific problems related to map creation and localization using laser-based techniques (e.g., irregular surfaces as metal grids and high symmetry of the environment), which must be properly taken into account and are discussed throughout the paper. Preliminary experimental results show that the system is able to create a consistent map of the environment, to correctly localize itself therein and to follow a given path.

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Metadata
Title
An Application of Laser-Based Autonomous Navigation for Data-Center Monitoring
Authors
Stefano Rosa
Ludovico Orlando Russo
Giuseppe Airó Farulla
Luca Carlone
Roberto Antonini
Gaspardone Marco
Basilio Bona
Copyright Year
2016
Book
Intelligent Autonomous Systems 13

Print ISBN: 978-3-319-08337-7

Electronic ISBN: 978-3-319-08338-4

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-08338-4_8

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